High Performance Control of AC Drives with Matlab/Simulink

Haitham Abu-Rub, PhD, is a Fellow of the IEEE and Professor in the Department of Electrical & Computer Engineering, and Managing Director of the Smart Grid Centre, both for Texas A&M University at Qatar. Abu-Rub received two PhDs from Gdansk University of Technology and Gdansk University, Poland, in 1995 and 2004, respectively.Dr. Atif Iqbal, DSc, PhD, is a Professor in the Department of Electrical Engineering at Qatar University, Doha, Qatar. He obtained his DSc (Habilitation) from Gdansk University of Technology (GUT), Gdansk, Poland in 2019, and his PhD from Liverpool John Moores University, Liverpool, UK in 2006. He is Fellow of IET (UK), Fellow IE (India) and an IEEE Senior Member.Jaroslaw Guzinski, DSc, PhD, is a Professor at Gdansk University of Technology (GUT), Gdansk, Poland. He is the Vice-Dean for Scientific Research and Head of the Department of Electric Drives and Energy Conversion at the Faculty of Electrical and Control Engineering at GUT. He received his PhD from the Electrical Engineering Department at GUT in 2000 and his DSc degree from the Faculty of Electrical and Control Engineering at GUT in 2011. He is an IEEE Senior Member.

• Acknowledgment xivBiographies xviPreface to Second Edition xviiiPreface to First Edition xxAbout the Companion Website xxii1 Introduction to High-Performance Drives 11.1 Preliminary Remarks 11.2 General Overview of High-Performance Drives 61.3 Challenges and Requirements for Electric Drives for Industrial Applications 101.3.1 Power Quality and LC Resonance Suppression 111.3.2 Inverter Switching Frequency 121.3.3 Motor-Side Challenges 121.3.4 High dv/dt and Wave Reflection 121.3.5 Use of Inverter Output Filters 131.4 Wide Bandgap (WBG) Devices Applications in Electric Motor Drives 141.4.1 Industrial Prototype Using WBG 151.4.2 Major Challenges for WBG Devices for Electric Motor Drive Applications 151.5 Organization of the Book 16References 192 Mathematical and Simulation Models of AC Machines 232.1 Preliminary Remarks 232.2 DC Motors 232.2.1 Separately Excited DC Motor Control 242.2.2 Series DC Motor Control 272.3 Squirrel Cage Induction Motor 282.3.1 Space Vector Representation 282.3.2 Clarke Transformation (ABC to αβ) 292.3.3 Park Transformation (αβ to dq) 322.3.4 Per Unit Model of Induction Motor 332.3.5 Double Fed Induction Generator (DFIG) 362.4 Mathematical Model of Permanent Magnet Synchronous Motor 392.4.1 Motor Model in dq Rotating Frame 402.4.2 Example of Motor Parameters for Simulation 422.4.3 PMSM Model in Per Unit System 422.4.4 PMSM Model in α − β (x − y)-Axis 442.5 Problems 45References 453 Pulse-Width Modulation of Power Electronic DC–AC Converter 47Atif Iqbal, Arkadiusz Lewicki, and Marcin Morawiec3.1 Preliminary Remarks 473.2 Classification of PWM Schemes for Voltage Source Inverters 483.3 Pulse-Width Modulated Inverters 493.3.1 Single-Phase Half-Bridge Inverters 493.3.2 Single-Phase Full-Bridge or H-Bridge Inverters 553.4 Three-Phase PWM Voltage Source Inverter 603.4.1 Carrier-Based Sinusoidal PWM 673.4.2 Third-Harmonic Injection Carrier-Based PWM 673.4.3 MATLAB/Simulink Model for Third-Harmonic Injection PWM 723.4.4 Carrier-Based PWM with Offset Addition 723.4.5 Space Vector PWM (SVPWM) 743.4.6 Discontinuous Space Vector PWM 793.4.7 MATLAB/Simulink Model for Space Vector PWM 843.4.8 Space Vector PWM in Overmodulation Region 933.4.9 MATLAB/Simulink Model to Implement Space Vector PWM in Overmodulation Regions 993.4.10 Harmonic Analysis 1003.4.11 Artificial Neural Network-Based PWM 1003.4.12 MATLAB/Simulink Model of Implementing ANN-Based SVPWM 1033.5 Relationship Between Carrier-Based PWM and SVPWM 1043.5.1 Modulating Signals and Space Vectors 1053.5.2 Relationship Between Line-to-Line Voltages and Space Vectors 1063.5.3 Modulating Signals and Space Vector Sectors 1073.6 Low-Switching Frequency PWM 1073.6.1 Types of Symmetries and Fourier Analysis 1093.6.2 Selective Harmonics Elimination in a two-Level VSI 1093.6.3 MATLAB Code 1143.7 Multilevel Inverters 1163.7.1 Neutral-Point-Clamped (Diode-Clamped) Multilevel Inverters 1163.7.2 Flying Capacitor-Type Multilevel Inverter 1203.7.3 Cascaded H-Bridge Multilevel Inverter 1263.8 Space Vector Modulation and DC-Link Voltage Balancing in Three-Level Neutral-Point-Clamped Inverters 1283.8.1 The Output Voltage of Three-Level NPC Inverter in the Case of the DC-Link Voltage Unbalance 1283.8.2 The Space Vector PWM for NPC Inverters 1343.8.3 MATLAB/Simulink of SVPWM 1373.9 Space Vector PWM for Multilevel-Cascaded H-Bridge Converter with DC-Link Voltage Balancing 1383.9.1 Control of a Multilevel CHB Converter 1413.9.2 The Output Voltage of a Single H-Bridge 1423.9.3 Three-Level CHB Inverter 1433.9.4 The Space Vector Modulation for Three-Level CHB Inverter 1453.9.5 The Space Vector Modulation for Multilevel CHB Inverter 1493.9.6 MATLAB/Simulink Simulation of SVPWM 1503.10 Impedance Source or Z-source Inverter 1503.10.1 Circuit Analysis 1543.10.2 Carrier-Based Simple Boost PWM Control of a Z-source Inverter 1563.10.3 Carrier-Based Maximum Boost PWM Control of a Z-source Inverter 1573.10.4 MATLAB/Simulink Model of Z-source Inverter 1593.11 Quasi Impedance Source or qZSI Inverter 1593.11.1 MATLAB/Simulink Model of qZ-source Inverter 1643.12 Dead Time Effect in a Multiphase Inverter 1643.13 Summary 169Problems 169References 1704 Field-Oriented Control of AC Machines 1774.1 Introduction 1774.2 Induction Machines Control 1784.2.1 Control of Induction Motor Using V/f Methods 1784.2.2 Vector Control of Induction Motor 1824.2.3 Direct and Indirect Field-Oriented Control 1884.2.4 Rotor and Stator Flux Computation 1884.2.5 Adaptive Flux Observers 1894.2.6 Stator Flux Orientation 1904.2.7 Field Weakening Control 1914.3 Vector Control of Double Fed Induction Generator (DFIG) 1924.3.1 Introduction 1924.3.2 Vector Control of DFIG Connected with the Grid (αβ Model) 1944.3.3 Variables Transformation 1944.3.4 Simulation Results 1984.4 Control of Permanent Magnet Synchronous Machine 1984.4.1 Introduction 1984.4.2 Vector Control of PMSM in dq Axis 2004.4.3 Vector Control of PMSM in α−β Axis Using PI Controller 2034.4.4 Scalar Control of PMSM 207Exercises 208Additional Tasks 208Possible Tasks for DFIG 208Questions 208References 2095 Direct Torque Control of AC Machines 211Truc Phamdinh5.1 Preliminary Remarks 2115.2 Basic Concept and Principles of DTC 2125.2.1 Basic Concept 2125.2.2 Principle of DTC 2145.3 DTC of Induction Motor with Ideal Constant Machine Model 2205.3.1 Ideal Constant Parameter Model of Induction Motors 2205.3.2 Direct Torque Control Scheme 2225.3.3 Speed Control with DTC 2255.3.4 MATLAB/Simulink Simulation of Torque Control and Speed Control with DTC 2255.4 DTC of Induction Motor with Consideration of Iron Loss 2405.4.1 Induction Machine Model with Iron Loss Consideration 2405.4.2 MATLAB/SIMULINK Simulation of the Effects of Iron Losses in Torque Control and Speed Control 2435.4.3 Modified Direct Torque Control Scheme for Iron Loss Compensation 2545.5 DTC of Induction Motor with Consideration of Both Iron Losses and Magnetic Saturation 2595.5.1 Induction Machine Model with Consideration of Iron Losses and Magnetic Saturation 2595.5.2 MATLAB/Simulink Simulation of Effects of Both Iron Losses and Magnetic Saturation in Torque Control and Speed Control 2605.6 Modified Direct Torque Control of Induction Machine with Constant Switching Frequency 2755.7 Direct Torque Control of Sinusoidal Permanent Magnet Synchronous Motors (SPMSM) 2765.7.1 Introduction 2765.7.2 Mathematical Model of Sinusoidal PMSM 2765.7.3 Direct Torque Control Scheme of PMSM 2785.7.4 MATLAB/Simulink Simulation of SPMSM with DTC 278References 2966 Nonlinear Control of Electrical Machines Using Nonlinear Feedback 299Zbigniew Krzeminski and Haitham Abu-Rub6.1 Introduction 2996.2 Dynamic System Linearization Using Nonlinear Feedback 3006.3 Nonlinear Control of Separately Excited DC Motors 3016.3.1 MATLAB/Simulink Nonlinear Control Model 3036.3.2 Nonlinear Control Systems 3036.3.3 Speed Controller 3046.3.4 Controller for Variable m 3046.3.5 Field Current Controller 3066.3.6 Simulation Results 3066.4 Multiscalar Model (MM) of Induction Motor 3066.4.1 Multiscalar Variables 3076.4.2 Nonlinear Linearization of Induction Motor Fed by Voltage Controlled VSI 3086.4.3 Design of System Control 3106.4.4 Nonlinear Linearization of Induction Motor Fed by Current Controlled VSI 3116.4.5 Stator-Oriented Nonlinear Control System (based on Ψs, is) 3146.4.6 Rotor–Stator Fluxes-Based Model 3156.4.7 Stator-Oriented Multiscalar Model 3166.4.8 Multiscalar Control of Induction Motor 3186.4.9 Induction Motor Model 3196.4.10 State Transformations 3206.4.11 Decoupled IM Model 3216.5 MM of Double-Fed Induction Machine (DFIM) 3226.6 Nonlinear Control of Permanent Magnet Synchronous Machine 3256.6.1 Nonlinear Control of PMSM for a dq Motor Model 3276.6.2 Nonlinear Vector Control of PMSM in α−β Axis 3296.6.3 PMSM Model in α−β (x−y) Axis 3296.6.4 Transformations 3296.6.5 Control System 3336.6.6 Simulation Results 3346.7 Problems 334References 3347 Five-Phase Induction Motor Drive System 3377.1 Preliminary Remarks 3377.2 Advantages and Applications of Multiphase Drives 3387.3 Modeling and Simulation of a Five-Phase Induction Motor Drive 3397.3.1 Five-Phase Induction Motor Model 3397.3.2 Five-Phase Two-Level Voltage Source Inverter Model 3457.3.3 PWM Schemes of a Five-Phase VSI 3807.4 Direct Rotor Field-Oriented Control of Five-Phase Induction Motor 3967.4.1 MATLAB/Simulink Model of Field-Oriented Control of Five-Phase Induction Machine 3987.5 Field-Oriented Control of Five-Phase Induction Motor with Current Control in the Synchronous Reference Frame 4027.6 Direct Torque Control of a Five-Phase Induction Motor 4047.6.1 Control of Inverter Switches Using DTC Technique 4047.6.2 Virtual Vector for Five-Phase Two-Level Inverter 4057.7 Model Predictive Control (MPC) 4207.7.1 MPC Applied to a Five-Phase Two-Level VSI 4217.7.2 MATLAB/Simulink of MPC for Five-Phase VSI 4227.7.3 Using Eleven Vectors with γ = 0 4237.7.4 Using Eleven Vectors with γ = 1 4257.8 Summary 4267.9 Problems 426References 4278 Sensorless Speed Control of AC Machines 4338.1 Preliminary Remarks 4338.2 Sensorless Control of Induction Motor 4338.2.1 Speed Estimation Using Open-Loop Model and Slip Computation 4348.2.2 Closed-Loop Observers 4348.2.3 MRAS (Closed-Loop) Speed Estimator 4438.2.4 The Use of Power Measurements 4468.3 Sensorless Control of PMSM 4488.3.1 Control System of PMSM 4508.3.2 Adaptive Backstepping Observer 4508.3.3 Model Reference Adaptive System for PMSM 4528.3.4 Simulation Results 4548.4 MRAS-Based Sensorless Control of Five-Phase Induction Motor Drive 4548.4.1 MRAS-Based Speed Estimator 4588.4.2 Simulation Results 460References 4649 Selected Problems of Induction Motor Drives with Voltage Inverter and Inverter Output Filters 4699.1 Drives and Filters – Overview 4699.2 Three-Phase to Two-Phase Transformations 4719.3 Voltage and Current Common Mode Component 4739.3.1 MATLAB/Simulink Model of Induction Motor Drive with PWM Inverter and Common Mode Voltage 4749.4 Induction Motor Common Mode Circuit 4779.5 Bearing Current Types and Reduction Methods 4789.5.1 Common Mode Choke 4809.5.2 Common Mode Transformers 4829.5.3 Common Mode Voltage Reduction by PWM Modifications 4839.6 Inverter Output Filters 4899.6.1 Selected Structures of Inverter Output Filters 4899.6.2 Inverter Output Filters Design 4949.6.3 Motor Choke 5039.6.4 MATLAB/Simulink Model of Induction Motor Drive with PWM Inverter and Differential Mode LC Filter 5069.7 Estimation Problems in the Drive with Filters 5099.7.1 Introduction 5099.7.2 Speed Observer with Disturbances Model 5119.7.3 Simple Observer Based on Motor Stator Models 5149.8 Motor Control Problems in the Drive with Filters 5169.8.1 Introduction 5169.8.2 Field-Oriented Control 5189.8.3 Nonlinear Field-Oriented Control 5229.8.4 Nonlinear Multiscalar Control 5269.9 Predictive Current Control in the Drive System with Output Filter 5309.9.1 Control System 5309.9.2 Predictive Current Controller 5349.9.3 EMF Estimation Technique 5369.10 Problems 541Questions 544References 54510 Medium Voltage Drives – Challenges and Trends 549Haitham Abu-Rub, Sertac Bayhan, Shaikh Moinoddin, Mariusz Malinowski, and Jaroslaw Guzinski10.1 Introduction 54910.2 Medium Voltage Drive Topologies 55110.3 Challenges and Requirements of MV Drives 56110.3.1 Power Quality and LC Resonance Suppression 56110.3.2 Inverter Switching Frequency 56110.3.3 Motor Side Challenges 56210.4 Summary 569References 56911 Current Source Inverter Fed Drive 575Marcin Morawiec and Arkadiusz Lewicki11.1 Introduction 57511.2 Current Source Inverter Structure 57611.3 Pulse Width Modulation of Current Source Inverter 57811.4 Mathematical Model of the Current Source Inverter Fed Drive 58211.5 Control System of an Induction Machine Supplied by a Current Source Inverter 58311.5.1 Open-Loop Control 58311.5.2 Direct Field Control of Induction Machine 58411.6 Control System Model in Matlab/Simulink 587References 591Index 593